Establishment of Design Variable of Leg Stiffness Artificial Tendon Actuator ($LeSATA^{TM}$) for Actual Control in Dorsiflexion of Metatarsophalangeal Joint at the Initial Contact while the Bi-pedal Human Walking : (1) Realization of Lagrangian Equation and Impulsive Constraint

2족 보행시 중족지절관절 초기접지기 배측굴곡의 능동적 통제를 위한 Leg Stiffness Artificial Tendon Actuator($LeSATA^{TM}$)의 설계변수 확립 : (1) Lagrangian 방정식 및 Impulsive Constraint 적용법 구현